JP3841550B2

JP3841550B2 - Potting equipment

Info

Publication number: JP3841550B2
Application number: JP15530698A
Authority: JP
Inventors: 野節生武; 前健介大; 野稔明湧; 出剛門
Original assignee: Yanma Agricultural Equipment Co Ltd
Current assignee: Yanma Agricultural Equipment Co Ltd
Priority date: 1998-05-19
Filing date: 1998-05-19
Publication date: 2006-11-01
Anticipated expiration: 2018-05-19
Also published as: JPH11318222A

Description

【０００１】
【発明の属する技術分野】
本発明は例えば発芽させた稚苗を適正大きさまで育成するために、育苗トレイから移植トレイに苗の移植を行う鉢上げ装置に関する。
【０００２】
【発明が解決しようとする課題】
従来電動モータなど電動式駆動部材を用いて、苗取出爪を取付けるロータリケースを回転させ爪の開閉を行うようにした手段があるが、このような電動式の場合ロータリケース重量が重く、ロータリケースの支持強度にも大きな強度を必要として構成が大型且つ重量化するばかりでなく、駆動速度も遅いため高能率の作業が行えないなどの問題があった。
【０００３】
【課題を解決するための手段】
したがって本発明は、１対の二股状の苗取出爪によって苗トレイより苗を挾持して取出し苗の移植を行うようにした鉢上げ装置において、１対の苗取出爪の対向する内側面を凹部形状に形成し、空圧開閉部材を介し１対の苗取出爪を開閉自在に設けると共に、該取出爪に進退自在に空圧式苗押圧体を設けて、軽量の空圧開閉部材によってスムーズにして良好な爪の開閉動作を可能とさせると共に、これら開閉部材などを含む爪構成の軽量化を図ってその移動も軽快させて能率を向上させ、また爪に取出した苗の移植トレイへの苗移植時には、苗押圧体によって爪より苗を速やかに離脱させて移植精度を向上させるものである。
【０００４】
また、苗トレイを搬送するトレイコンベアの苗取出位置前方に、取出苗より苗の茎葉を離反させるブラシ状の茎葉押え部材を設けて、取出爪による苗取出し時にあっては、苗の茎葉を押え部材によって取出苗から遠ざける方向に押え込んで、茎葉を損傷させることなく取出爪に苗を良好に挾持して取出して、苗の取出精度を向上させるものである。
【０００５】
【発明の実施の形態】
以下本発明の実施例を図面に基づいて詳述する。図１は移植爪の横移動を示す説明図、図２は全体の正面図、図３は同側面図、図４は同平面図であり、苗トレイである育苗トレイ（１）を搬送するチェン式育苗トレイコンベア（２）と、鉢上げ用トレイである移植トレイ（３）を搬送するベルト式移植トレイコンベア（４）とを平面視で平行に隣接配備させるもので、育苗トレイ（１）は稚苗を収容する例えば１２列×２４行の２８８のポット（１ａ）数を、また移植トレイ（３）は例えば４列×５行の２０のポット（３ａ）数を有して、各コンベア（２）（４）の所定位置で育苗トレイ（１）の苗を苗取出爪である移植爪（５）によって移植トレイ（３）に移植して鉢上げ作業を行うように構成している。
【０００６】
図４に示す如く、前記トレイコンベア（２）（４）は矢印方向に各ポット（１ａ）（３ａ）のピッチ（Ｐ１）（Ｐ２）毎に間欠的に搬送させ、コンベア（２）（４）の送り略中央に直交状に設ける移植爪（５）の横移動機構（６）の下方位置で移植爪（５）の爪上下動機構（７）を動作させて、育苗トレイ（１）からの苗取出し及びこの苗の移植トレイ（３）への植付けを行うように構成している。
【０００７】
図１に示す如く、前記移植爪（５）は横移動機構（６）によって左右のコンベア（２）（４）間を移動自在とすると共に、爪上下動機構（７）によって上下動自在として苗取り及び苗植付けを可能とさせたもので、前記移動機構（６）は各コンベア（２）（４）上方で機枠（８）の左右方向に直交させるレール付ベース（９）にタイミングベルト（１０）を固設する移動テーブル（１１）を左右摺動自在に嵌合させて、前記タイミングベルト（１０）のエンドレス状の内周側ギヤ面を左右のタイミングプーリ（１２）（１３）に巻回させ、右プーリ（１３）のプーリ軸（１４）にベルト伝動機構（１５）などを介し連結するＡＣサーボ形爪移動モータ（１６）の正逆駆動によってベルト（１０）を左右方向に往復移動させて、テーブル（１１）に上下動機構（７）を介し支持する移植爪（５）の左右移動を行うように構成している。
【０００８】
図５乃至図８に示す如く、前記爪上下動機構（７）は前記移動テーブル（１１）に連結固定する空圧式爪昇降シリンダ（１７）と、該昇降シリンダ（１７）のピストンロッド（１８）先端の連結杆（１９）にブラケット（２０）を介し固設する空圧開閉部材である空圧式爪開閉シリンダ（２１）と、該開閉シリンダ（２１）の開閉アクチュエータ（２２）に移植爪（５）の基端側を連結させる爪ホルダー（２３）とを備え、前記昇降シリンダ（１７）によって移植爪（５）を上下動作させると共に、開閉シリンダ（２１）によって左右の開閉アクチュエータ（２２）を相互逆方向に等分量摺動させて、移植爪（５）を構成する左右１組の爪体（５ａ）（５ｂ）の開閉を行うように構成している。
【０００９】
図８にも示す如く、前記爪体（５ａ）（５ｂ）は対向する内側面を凹部（２４）に形成すると共に、各爪体（５ａ）（５ｂ）の先端を二股部（２５）に形成して断面八の字形に形成したもので、左右爪体（５ａ）（５ｂ）の閉時にはこの二股部（２５）間に苗（２６）を挾持すると共に、左右爪体（５ａ）（５ｂ）の開時には苗（２６）を開放するように構成している。
【００１０】
なお、爪体（５ａ）（５ｂ）の先端を二股部（２５）に形成することによって、苗（２６）の根鉢（２６ａ）の出来具合いに関係のない苗（２６）の確実な挾持が行われて、苗取出精度を向上させることができるものである。
【００１１】
また、前記移植爪（５）に対し進退自在に苗押圧体（２７）を設けるもので、苗押圧体（２７）は密閉四角立方体形状で、前記爪体（５ａ）（５ｂ）の二股部（２５）が挿通する挿通孔（２８）を底板（２７ａ）に形成し、各押圧体（２７）の反対向面側のみを開放させ、開閉シリンダ（２１）の固定ブラケット（２９）に空圧式苗放出シリンダ（３０）を固設させ、苗押圧体（２７）の上端側に連結するロッド（３１）の他端を前記シリンダ（３０）のピストンロッド（３２）先端の連結杆（３３）に固定させて、図６の仮想線に示す如く、前記シリンダ（３０）のピストンロッド（３１）の伸張時に移植爪（５）に対し押圧体（２７）を下動させて、底板（２７ａ）に当接する苗（２６）の根鉢（２６ａ）上面を下方に押圧するように構成している。
【００１２】
なお前述実施例にあっては、前記爪体（５ａ）（５ｂ）の二股部（２５）外周に嵌合させる苗押圧体（２７）の構成例を示したが、図９、図１０に示す如く、爪体（５ａ）（５ｂ）の二股凹部（２４）に先端折曲縁（３４ａ）を当接させるバネ板製の押圧体（３４）を前記ピストンロッド（３２）先端の連結杆（３３ａ）に固定させて、左右爪体（５ａ）（５ｂ）に挾持する苗（２６）の開放時には、押圧体（３４）先端の折曲縁（３４ａ）を凹部（２４）に沿って下動させて、折曲縁（３４ａ）下面に当接させる苗（２６）の根鉢（２６ａ）上面を下方に押圧して、爪体（５ａ）（５ｂ）より苗（２６）を離脱させる構成でも良い。
【００１３】
図１１に示す如く、前記育苗トレイコンベア（２）の苗取出位置より搬送始端側となる移植爪（５）の対向前方位置にブラシ状の茎葉押え部材（３５）を育苗トレイ（１）の全横巾に亘って設けるもので、機枠（８）に立設する固定板（３６）に調節ボルト（３７）を介し取付角度調節自在に前記押え部材（３５）を固定させて、トレイコンベア（２）によって育苗トレイ（１）の苗（２６）が苗取出位置まで移動してきたときには、前記押え部材（３５）によって育苗トレイ（１）内の苗（２６）の茎葉を、移植爪（５）の前方より離す方向に押え込む状態とさせて、茎葉の影響を受けることなく移植爪（５）で苗（２６）を取出すように構成している。
【００１４】
図１２に示す如く、育苗トレイ（１）から移植爪（５）に挾持して取出し、前記昇降シリンダ（１７）で上動位置まで上昇させたときの苗（２６）を検出する投受光式の光電苗センサ（３８）を設けるもので、発光ダイオードなどの投光部（３８ａ）とフォトダイオードなどの受光部（３８ｂ）とを苗センサ（３８）は備え、移植爪（５）の移動方向に苗センサ（３８）の検出方向を一致させて、育苗トレイコンベア（２）の右側機枠（８）のセンサ取付板（３９）にボルト（４０）を介し取付高さ調節自在に投光部（３８ａ）を設置すると共に、移植トレイコンベア（４）の左側機枠（８）のセンサ取付板（４１）にボルト（４０）を介し取付高さ調節自在に受光部（３８ｂ）を設置している。
【００１５】
そして、移植爪（５）の下端より一定寸法（Ｓ）離れた苗（２６）の根鉢（２６ａ）に前記投光部（３８ａ）からの検出光を投射させて、前記移植爪（５）の上動位置にあって移植爪（５）の何れの左右移動位置にあるときにも、欠株或いは虚弱苗（根鉢の悪い苗）を確実に検出するように構成している。また、育苗トレイ（１）のポット（１ａ）の大きさや苗の虚弱の程度により根鉢（２６ａ）の大きさが異なる場合などには、投光部（３８ａ）及び受光部（３８ｂ）の高さ調節でこれに対応した正確な検出を可能とさせると共に、従来の如く移植爪（５）と一体に苗センサ（３８）を移動させる手段に比べ、定位置に設ける苗センサ（３８）によって移植爪（５）の移動部のコンパクト化と重量軽減が図れて、移動速度も高速となって、苗移植作業の能率を向上させることができるものである。
【００１６】
なお（４２）は育苗トレイ（１）の各種ポット（１ａ）のトレイ毎に準備する防錆材製（ステンレス鋼など）のアンダートレイであり、育苗トレイコンベア（２）を構成する搬送チェン（２ａ）上に搬送摩擦板（４３）を介し取外し自在にアンダートレイ（４２）を載置させて、アンダートレイ（４２）内に装填する育苗トレイ（１）の搬送を行うように構成している。
【００１７】
そして図１３に示す如く、各種操作ボタンなどを有するパネルユニット（４４）と、前記移植爪（５）の左右移動位置を検出する爪移動位置センサ（４５）と、各コンベア（２）（４）上での育苗及び移植トレイ（１）（３）の苗取出位置を検出する育苗及び移植トレイ停止位置センサ（４６）（４７）と、前記苗センサ（３８）とをコンピュータで構成するコントローラ（４８）に出力接続すると共に、前記爪移動モータ（１６）と、前記トレイコンベア（２）（４）を間欠及び連続的に駆動する育苗及び移植トレイ用コンベアモータ（４９）（５０）と、前記空圧式爪昇降シリンダ（１７）を操作する爪昇降用電磁バルブ（５１）と、前記空圧式爪開閉シリンダ（２１）を操作する爪開閉用電磁バルブ（５２）と、前記空圧式苗放出シリンダ（３０）を操作する爪放出用電磁バルブ（５３）とにコントローラ（４８）を出力接続させて、コントローラ（４８）に予め設定されるプログラムや各センサ（４５）（４６）（４７）の検出に基づいた自動による鉢上げ制御作業を行うように構成している。
【００１８】
本実施例は上記の如く構成するものにして、図１４に示す如く、自動制御に際しては、育苗及び移植トレイ（１）（３）が所定の苗取り及び苗移植位置にあることをトレイセンサ（４６）（４７）が検出するとき、コンベアモータ（４９）（５０）を停止させ、テーブル（１１）を育苗トレイ（１）側にプログラムに設定される所定距離だけ移動させて停止させ、前記昇降シリンダ（１７）を駆動して、爪（５）を下動させると共に、前記開閉シリンダ（２１）によって爪（５）を開から閉とさせてポット（１ａ）内の苗（２６）を挾持する。その後前記昇降シリンダ（１７）を駆動して、苗（２６）を上動位置に持上げ状態とさせ、苗センサ（３８）によって苗の検出を行い、爪（５）に苗（２６）を正常に挾持するときは移植トレイ（３）側にプログラムで設定される所定距離だけ移動させて停止させ、前記昇降シリンダ（１７）を駆動して爪（５）を下動させると共に、爪（５）を閉から開とさせ、またこのとき前記放出シリンダ（３０）を駆動して苗押圧体（２７）を下動させてポット（３ａ）に苗（２６）を確実に移植させ、移植後は爪（５）を再び上動して育苗トレイ（１）の次回ポット（１ａ）取出位置まで所定距離センサだけ移動させるものである。また前記苗センサ（３８）の苗の検出時に、苗の検出が行われないとき、爪（５）を開として、一度押圧対（２７）を下動及び上動動作させて、爪（５）に掴んだ土などを爪（５）から分離させ払い落とした後に、次回の苗取出しが行われるポット（１ａ）位置まで即時に戻って、移植トレイ（３）側所定の同じポット（３ａ）に苗（２６）を植付けて移植トレイ（３）での欠株を防止する。
【００１９】
このように、爪（５）の上下動及び開閉動作を空圧式のシリンダ（１７）（２１）を用いて行うことによって、爪上下動機構（７）を軽量且つコンパクトな構成として、爪（５）の横移動もスムーズにして高速とさせることができ、能率の向上化を図ることができる。
【００２０】
また、前記爪（５）による育苗トレイ（１）からの苗（２６）取出し時にあっては、前記押え部材（３５）によって取出し位置近傍の苗（２６）の茎葉が爪（５）の前方側に押え込まれて、爪（５）に茎葉が絡み付いたり茎葉が損傷するなどの不都合も防止されて、良好な苗（２６）の取出しが行われるものである。
【００２１】
さらに、前記爪（５）の先端を二股部（２５）に形成すると共に、内側面を凹部（２４）に形成することによって、苗取り時の爪（５）の突入抵抗を小とさせて該爪（５）によるスムーズな苗取りを助長させると共に、例え根鉢（２６ａ）に形崩れなど不具合があってもこの確実な挾持が行われて苗取出精度を向上させることができるものである。
【００２２】
またさらに、前記爪（５）を挾持する苗（２６）の放出時には苗押圧体（２７）の上方からの押圧作用によって爪（５）から苗（２６）の確実な離脱が促進されるもので、またこの場合苗圧体（２７）の平坦内側面で爪（５）を覆う構成のため爪（５）に苗（２６）の茎葉が引掛かるなどの不都合も解消され、苗（２６）の良好な放出を可能とさせることができる。
【００２３】
また図１５、図１６に示すものは、前記昇降シリンダ（１７）で爪（５）が上動するときに爪（５）及び開閉シリンダ（２１）などの自重にバランスさせてシリンダ（１７）の上昇力を低減させる上動補助用の引張バネ（５４）を設けると共に、開閉シリンダ（２１）に対し左右爪体（５ａ）（５ｂ）を左右位置調節自在に取付けて爪（５）の開量を調節可能とさせる構成例を示すもので、開閉シリンダ（２１）を前記ピストンロッド（１８）先端の昇降体（５５）にボルト（５６）を介し固定させ、機枠（８）に固設するリニアガイド体（５７）に前記昇降体（５５）を上下摺動自在に支持させると共に、前記昇降シリンダ（１７）の基端を機枠（８）に連結支持するシリンダベース（５８）と開閉シリンダ（２１）間に前記引張バネ（５４）を介設して、昇降シリンダ（１７）による爪（５）の上動操作時の操作力を前記バネ（５４）によって低減させて、昇降シリンダ（１７）の上昇速度の高速化（サイクルタイムの短縮化）やシリンダ（１７）の小形軽量化を図って、作業能率と経済性などを向上させるように構成している。
【００２４】
さらに、前記開閉シリンダ（２１）の左右開閉アクチュエータ（２２）にボルトなどを介し左右爪取付体（５９）を取外し自在にそれぞれ固定させ、左右爪体（５ａ）（５ｂ）の基端をボルト（６０）を介し取外し自在に固定する左右爪ホルダー（６１）を設け、爪取付体（５９）に爪ホルダー（６１）の長孔（６２）及びボルト（６３）を介して左右位置調節自在に爪ホルダー（６１）を固定させて、左右爪体（５ａ）（５ｂ）の間隔巾である爪（５）の開量を調節可能とさせ、苗（２６）の大きさが変化した場合にもその都度爪（５）を交換するなどの必要のない能率良好な作業を行うように構成している。
【００２５】
【発明の効果】
以上実施例から明らかなように本発明は、１対の二股状の苗取出爪（５）によって苗トレイ（１）より苗（２６）を挾持して取出し苗（２６）の移植を行うようにした鉢上げ装置において、１対の苗取出爪（５）の対向する内側面を凹部（２４）形状に形成し、空圧開閉部材（２１）を介し１対の苗取出爪（５）を開閉自在に設けると共に、該取出爪（５）に進退自在に空圧式苗押圧体（２７）（３４）を設けたものであるから、軽量の空圧開閉部材（２１）によってスムーズにして良好な爪（５）の開閉動作を可能とさせると共に、これら開閉部材（２１）などを含む爪（５）構成の軽量化を図ってその移動も軽快させて能率を向上させ、また爪（５）に取出した苗（２６）の移植トレイ（３）への苗移植時には、苗押圧体（２７）（３４）によって爪（５）より苗（２６）を速やかに離脱させて移植精度を向上させることができるものである。
【００２６】
また、苗トレイ（１）を搬送するトレイコンベア（２）の苗取出位置前方に、取出苗（２６）より苗の茎葉を離反させるブラシ状の茎葉押え部材（３５）を設けたものであるから、取出爪（５）による苗（２６）取出し時にあっては、苗（２６）の茎葉を押え部材（３５）によって取出苗（２６）から遠ざける方向に押え込んで、茎葉を損傷させることなく取出爪（５）に苗（２６）を良好に挾持して取出して、苗（２６）の取出精度を向上させることができるものである。
【図面の簡単な説明】
【図１】移植爪の横移動を示す説明図である。
【図２】全体の正面図である。
【図３】全体の側面図である。
【図４】全体の平面説明図である。
【図５】移植爪の開閉説明図である。
【図６】押圧体の動作説明図である。
【図７】移植爪の側面説明図である。
【図８】移植爪の断面説明図である。
【図９】押圧体の変形例の説明図である。
【図１０】押圧体の変形例の説明図である。
【図１１】茎葉押え部材の説明図である。
【図１２】苗センサの説明図である。
【図１３】制御回路図である。
【図１４】フローチャートである。
【図１５】爪上昇用引張バネの取付構成を示す説明図である。
【図１６】爪開量調節の構成を示す説明図である。
【符号の説明】
（１）苗トレイ
（２）トレイコンベア
（５）移植爪（苗取出爪）
（２１）爪開閉シリンダ（開閉部材）
（２４）凹部
（２６）苗
（２７）（３４）苗押圧体
（３５）茎葉押え部材[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a potting device for transplanting seedlings from a seedling tray to a transplanting tray, for example, to grow germinated young seedlings to an appropriate size.
[0002]
[Problems to be solved by the invention]
Conventionally, there is means that uses an electric drive member such as an electric motor to rotate the rotary case to which the seedling extraction claw is attached to open and close the claw, but in such an electric type the rotary case is heavy and the rotary case In addition to requiring a large strength for the supporting strength, the structure is not only large and heavy, but also has a problem that the driving speed is slow and high efficiency work cannot be performed.
[0003]
[Means for Solving the Problems]
Therefore, the present invention provides a potting device in which a seedling is held from a seedling tray by a pair of bifurcated seedling extraction claws to transplant the extracted seedling, and the opposing inner surface of the pair of seedling extraction claws is recessed. It is formed in a shape and a pair of seedling extraction claws are provided so as to be openable and closable via a pneumatic opening and closing member, and a pneumatic seedling pressing body is provided on the extraction claw so as to be able to advance and retract. The opening and closing operation of the nail including the opening and closing members is made lighter, the movement is lightened and the efficiency is improved, and the seedling transplanted to the transplanting tray of the seedling taken out to the nail is made possible. In some cases, the seedling pressing body quickly removes the seedling from the nail to improve transplantation accuracy.
[0004]
In addition, a brush-like foliage presser member that separates the foliage of the seedling from the extracted seedling is provided in front of the seedling extraction position of the tray conveyor that conveys the seedling tray. The member is pressed in a direction away from the extracted seedling, and the seedling is satisfactorily held and taken out by the extraction claw without damaging the foliage, thereby improving the extraction accuracy of the seedling.
[0005]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is an explanatory view showing the lateral movement of the transplanting claw, FIG. 2 is a front view of the whole, FIG. 3 is a side view thereof, and FIG. 4 is a plan view of the chain. The seedling tray conveyor (2) and the belt type transplanting tray conveyor (4) for conveying the transplanting tray (3), which is a potting tray, are arranged adjacent in parallel in a plan view. For example, the number of 288 pots (1a) of 12 rows × 24 rows for accommodating the seedlings, and the transplant tray (3) has the number of 20 pots (3a) of 4 rows × 5 rows, for example, 2) The seedlings in the seedling tray (1) are transplanted to the transplanting tray (3) by the transplanting claws (5) which are seedling extraction claws at a predetermined position of (4), and the potting operation is performed.
[0006]
As shown in FIG. 4, the tray conveyors (2) and (4) are intermittently conveyed in the direction of the arrow for each of the pitches (P1) and (P2) of the pots (1a) and (3a) to convey the conveyors (2) and (4). The nail vertical movement mechanism (7) of the transplanting nail (5) is operated at a position below the lateral movement mechanism (6) of the transplanting nail (5) provided orthogonally in the center of the feeding of the seedling from the seedling tray (1). The seedling is taken out and planted on the transplanting tray (3).
[0007]
As shown in FIG. 1, the transplanting claw (5) can be moved between the left and right conveyors (2) and (4) by a lateral movement mechanism (6), and can be moved up and down by a claw vertical movement mechanism (7). The moving mechanism (6) is provided with a timing belt (9) on a base (9) with rails orthogonal to the left and right direction of the machine frame (8) above the conveyors (2) and (4). 10) is fixed to the movable table (11) so as to be slidable left and right, and the endless inner peripheral gear surface of the timing belt (10) is wound around the left and right timing pulleys (12) and (13). The belt (10) is reciprocated in the left-right direction by a forward / reverse drive of an AC servo claw movement motor (16) that is rotated and coupled to the pulley shaft (14) of the right pulley (13) via a belt transmission mechanism (15). Let the table (11 It is configured to perform lateral movement of the support transplanting claw via a vertical movement mechanism (7) (5).
[0008]
As shown in FIGS. 5 to 8, the claw up-and-down moving mechanism (7) includes a pneumatic claw elevating cylinder (17) connected and fixed to the moving table (11), and a piston rod (18) of the elevating cylinder (17). A pneumatic claw opening / closing cylinder (21) which is a pneumatic opening / closing member fixed to the connecting rod (19) at the tip via a bracket (20), and a transplanting claw (5) to the opening / closing actuator (22) of the opening / closing cylinder (21). ) And a claw holder (23) for connecting the base end side of the), the transplantation claw (5) is moved up and down by the elevating cylinder (17), and the left and right opening / closing actuators (22) are mutually connected by the opening / closing cylinder (21) A pair of left and right claws (5a) and (5b) constituting the transplantation claw (5) are opened and closed by sliding in equal amounts in the opposite direction.
[0009]
As shown in FIG. 8, the nail bodies (5a) and (5b) are formed with the inner surfaces facing each other in the recesses (24) and the tips of the nail bodies (5a) and (5b) are formed in the bifurcated portions (25). When the left and right nail bodies (5a) and (5b) are closed, the seedling (26) is held between the bifurcated portions (25) and the left and right nail bodies (5a) and (5b) are formed. At the time of opening, the seedling (26) is opened.
[0010]
By forming the tips of the nail bodies (5a) and (5b) at the bifurcated portion (25), the seedling (26) can be reliably held regardless of the condition of the root pot (26a) of the seedling (26). This is done to improve seedling extraction accuracy.
[0011]
Further, the seedling pressing body (27) is provided so as to be able to advance and retreat with respect to the transplanted nail (5). The seedling pressing body (27) has a closed quadrangular cubic shape, and a bifurcated portion of the nail body (5a) (5b) ( 25) is formed in the bottom plate (27a) through which the insertion hole (28) is inserted, only the opposite surface side of each pressing body (27) is opened, and the pneumatic seedling is fixed to the fixing bracket (29) of the open / close cylinder (21). The discharge cylinder (30) is fixed, and the other end of the rod (31) connected to the upper end side of the seedling pressing body (27) is fixed to the connecting rod (33) at the tip of the piston rod (32) of the cylinder (30). Then, as shown by the phantom line in FIG. 6, when the piston rod (31) of the cylinder (30) is extended, the pressing body (27) is moved downward with respect to the transplanting claw (5) to contact the bottom plate (27a). The upper surface of the root pot (26a) of the seedling (26) that is in contact is pressed downward. It is.
[0012]
In addition, in the above-mentioned Example, although the structural example of the seedling press body (27) fitted to the outer periphery of the forked part (25) of the said nail | claw body (5a) (5b) was shown, it shows to FIG. 9, FIG. In this way, the spring plate pressing body (34) for bringing the tip bent edge (34a) into contact with the bifurcated recess (24) of the claw body (5a) (5b) is connected to the piston rod (32) tip connecting rod (33a). ) And when the seedling (26) held between the left and right claws (5a) (5b) is released, the bent edge (34a) at the tip of the pressing body (34) is moved downward along the recess (24). Then, the root pot (26a) upper surface of the seedling (26) to be brought into contact with the lower surface of the bent edge (34a) may be pressed downward to detach the seedling (26) from the nail bodies (5a) (5b). .
[0013]
As shown in FIG. 11, the brush-like foliage presser member (35) is placed on the whole seedling tray (1) at a position in front of the transplanting claw (5) that is on the transport start end side from the seedling extraction position of the seedling tray conveyor (2). The holding member (35) is fixed to the fixing plate (36) standing on the machine frame (8) via the adjusting bolt (37) so that the mounting angle can be adjusted, and the tray conveyor ( When the seedling (26) of the seedling tray (1) has moved to the seedling extraction position by 2), the foliage of the seedling (26) in the seedling tray (1) is transferred to the transplanting nail (5) by the pressing member (35). The seedling (26) is taken out by the transplanted claw (5) without being affected by the foliage.
[0014]
As shown in FIG. 12, the light projecting / receiving type for detecting the seedling (26) when it is held and taken out from the seedling tray (1) to the transplanting claw (5) and raised to the up-moving position by the elevating cylinder (17). A photoelectric seedling sensor (38) is provided, and the seedling sensor (38) is provided with a light projecting part (38a) such as a light emitting diode and a light receiving part (38b) such as a photodiode, in the moving direction of the transplanting nail (5). The detection direction of the seedling sensor (38) is made to coincide, and the height of the light projecting part (the mounting height is adjustable via a bolt (40) on the sensor mounting plate (39) of the right machine casing (8) of the seedling tray conveyor (2)). 38a), and a light receiving portion (38b) is installed on the sensor mounting plate (41) of the left machine frame (8) of the transplant tray conveyor (4) via a bolt (40) so that the mounting height can be adjusted. .
[0015]
And the detection light from the said light projection part (38a) is projected on the root pot (26a) of the seedling (26) apart from the lower end of the transplant nail (5) by a fixed dimension (S), and the said transplant nail (5) Even when the transplanted claw (5) is in any left and right movement position, it is configured to reliably detect a missing line or a weak seedling (a seedling with a bad root pot). Further, when the size of the root pot (26a) varies depending on the size of the pot (1a) of the seedling tray (1) and the degree of frailty of the seedling, the height of the light projecting unit (38a) and the light receiving unit (38b) is increased. Adjusting the height enables accurate detection corresponding to this, and transplanting by means of a seedling sensor (38) provided at a fixed position as compared with the conventional means for moving the seedling sensor (38) integrally with the transplanting claw (5). The moving part of the nail (5) can be made compact and the weight can be reduced, the moving speed can be increased, and the efficiency of the seedling transplanting operation can be improved.
[0016]
In addition, (42) is an under tray made of a rust preventive material (stainless steel, etc.) prepared for each tray of the various pots (1a) of the seedling tray (1), and a transport chain (2a) constituting the seedling tray conveyor (2) ), An under tray (42) is detachably mounted thereon via a conveying friction plate (43), and the seedling tray (1) loaded in the under tray (42) is conveyed.
[0017]
And as shown in FIG. 13, the panel unit (44) which has various operation buttons etc., the nail movement position sensor (45) which detects the left-right movement position of the said transplanting nail (5), and each conveyor (2) (4) A controller (48) comprising a seedling sensor and a transplant tray stop position sensor (46) (47) for detecting the seedling extraction position of the seedling and transplant tray (1) (3) above and the seedling sensor (38) by a computer ), The claw movement motor (16), the seedling and transplanting tray conveyor motors (49) (50) for driving the tray conveyors (2) and (4) intermittently and continuously, and the empty A claw elevating electromagnetic valve (51) for operating the pressure claw elevating cylinder (17), a claw opening / closing electromagnetic valve (52) for operating the pneumatic claw opening / closing cylinder (21), and the pneumatic seedling discharge series The controller (48) is connected in output to the nail release electromagnetic valve (53) for operating the slider (30), and a program set in advance in the controller (48) and each sensor (45) (46) (47) It is configured to perform automatic potting control work based on detection.
[0018]
This embodiment is configured as described above. As shown in FIG. 14, in the automatic control, the tray sensor (1) (3) indicates that the seedling raising and transplanting trays (1) and (3) are at the predetermined seedling removing and seedling transplanting positions. 46) When detected by (47), the conveyor motors (49) and (50) are stopped, the table (11) is moved to the seedling tray (1) side by a predetermined distance set in the program, and stopped. The cylinder (17) is driven to move the claw (5) downward, and the claw (5) is closed from open to closed by the open / close cylinder (21) to hold the seedling (26) in the pot (1a). . Thereafter, the elevating cylinder (17) is driven to raise the seedling (26) to the up-moving position, the seedling sensor (38) detects the seedling, and the seedling (26) is properly placed on the nail (5). When gripping, move to the transplantation tray (3) side by a predetermined distance set by the program and stop, drive the elevating cylinder (17) to move the claw (5) down, and move the claw (5) At this time, the discharge cylinder (30) is driven to lower the seedling pressing body (27) so that the seedling (26) is reliably transplanted into the pot (3a). 5) is moved up again and moved by a predetermined distance sensor to the next pot (1a) removal position of the seedling tray (1). When seedling detection is not performed by the seedling sensor (38), the nail (5) is opened and the pressing pair (27) is once moved downward and upward to move the nail (5). After separating and removing the soil and the like from the nail (5), it immediately returns to the position of the pot (1a) where the next seedling removal is performed, and is transferred to the predetermined same pot (3a) on the transplant tray (3) side. Seedlings (26) are planted to prevent missing lines in the transplant tray (3).
[0019]
In this way, the claw (5) is moved up and down and opened and closed using the pneumatic cylinders (17) and (21), so that the claw up-and-down movement mechanism (7) has a lightweight and compact configuration. ) Can be moved smoothly and at a high speed, and the efficiency can be improved.
[0020]
Further, when taking out the seedling (26) from the seedling tray (1) by the nail (5), the foliage of the seedling (26) in the vicinity of the taking-out position is moved forward of the nail (5) by the holding member (35). This prevents inconveniences such as entanglement of the foliage and damage of the foliage to the nail (5), and a good seedling (26) can be taken out.
[0021]
Further, the tip of the claw (5) is formed in the forked portion (25) and the inner side surface is formed in the concave portion (24), thereby reducing the entry resistance of the claw (5) during seedling removal. In addition to facilitating smooth seedling removal with the nail (5), even if the root pot (26a) has a problem such as shape loss, this reliable holding is performed and the seedling extraction accuracy can be improved.
[0022]
Furthermore, when the seedling (26) holding the nail (5) is released, the pressing action from above the seedling pressing body (27) promotes the reliable detachment of the seedling (26) from the nail (5). In this case, since the nail (5) is covered with the flat inner surface of the seedling pressure body (27), inconveniences such as the foliage of the seedling (26) being caught on the nail (5) are eliminated, and the seedling (26) Good release can be made possible.
[0023]
15 and 16 show that when the claw (5) is moved up by the elevating cylinder (17), the cylinder (17) is balanced with its own weight such as the claw (5) and the open / close cylinder (21). An upward movement assisting tension spring (54) for reducing the upward force is provided, and the left and right claw bodies (5a) and (5b) are attached to the open / close cylinder (21) so that the left and right positions can be adjusted, thereby opening the claw (5). The open / close cylinder (21) is fixed to the lifting body (55) at the tip of the piston rod (18) via a bolt (56) and fixed to the machine frame (8). A cylinder base (58) and an open / close cylinder for supporting the elevating body (55) up and down slidably on a linear guide body (57) and connecting and supporting the base end of the elevating cylinder (17) to the machine frame (8) (21) In between the tension springs (5 ), The operating force when the claw (5) is moved upward by the elevating cylinder (17) is reduced by the spring (54) to increase the elevating speed of the elevating cylinder (17) (cycle time). And the cylinder (17) are reduced in size and weight to improve work efficiency and economy.
[0024]
Further, the left and right claw attachment bodies (59) are detachably fixed to the left and right opening / closing actuators (22) of the opening / closing cylinder (21) via bolts or the like, and the base ends of the left and right claw bodies (5a) (5b) are bolts ( 60) is provided with a left and right claw holder (61) that is detachably fixed through the claw mounting body (59), and the claw holder (61) has a claw holder (61) with a long hole (62) and a bolt (63) so that the left and right positions can be adjusted. Even if the size of the seedling (26) changes, the holder (61) is fixed so that the opening amount of the nail (5), which is the gap width between the left and right nail bodies (5a) (5b), can be adjusted. It is configured to perform work with good efficiency without needing to replace the nail (5) each time.
[0025]
【The invention's effect】
As apparent from the above examples, the present invention carries out the transplanting of the removed seedling (26) by holding the seedling (26) from the seedling tray (1) by the pair of bifurcated seedling extracting claws (5). In the pot raising device, the opposing inner surfaces of the pair of seedling extraction claws (5) are formed in the shape of the recess (24), and the pair of seedling extraction claws (5) are opened and closed via the pneumatic opening / closing member (21). Since the pneumatic seedling pressing body (27) (34) is provided on the take-out claw (5) so as to freely move forward and backward, the claw can be smoothly smoothed by the lightweight pneumatic opening / closing member (21). The opening / closing operation of (5) is made possible, the structure of the nail (5) including these opening / closing members (21) and the like is reduced, the movement is lightened, the efficiency is improved, and the nail (5) is taken out. When transplanting the seedlings (26) to the transplanting tray (3), the seedling pressing bodies (27) (34) By those which can improve the portability accuracy is detached immediately the seedlings (26) from pawl (5).
[0026]
Further, a brush-like foliage presser member (35) for separating the foliage of the seedling from the extracted seedling (26) is provided in front of the seedling extraction position of the tray conveyor (2) for conveying the seedling tray (1). When removing the seedling (26) by the extraction claw (5), the stem and leaves of the seedling (26) are pressed away from the extraction seedling (26) by the holding member (35) and removed without damaging the foliage. The seedling (26) can be favorably held and taken out by the nail (5), and the takingout accuracy of the seedling (26) can be improved.
[Brief description of the drawings]
FIG. 1 is an explanatory view showing lateral movement of a transplanted nail.
FIG. 2 is an overall front view.
FIG. 3 is a side view of the whole.
FIG. 4 is an explanatory plan view of the whole.
FIG. 5 is an explanatory view of opening and closing of a transplanted nail.
FIG. 6 is an operation explanatory diagram of a pressing body.
FIG. 7 is a side view of the transplantation nail.
FIG. 8 is a cross-sectional explanatory view of a transplanted nail.
FIG. 9 is an explanatory diagram of a modified example of the pressing body.
FIG. 10 is an explanatory diagram of a modified example of the pressing body.
FIG. 11 is an explanatory diagram of a foliage presser member.
FIG. 12 is an explanatory diagram of a seedling sensor.
FIG. 13 is a control circuit diagram.
FIG. 14 is a flowchart.
FIG. 15 is an explanatory view showing an attachment configuration of a tension spring for raising a claw.
FIG. 16 is an explanatory diagram showing a configuration of nail opening adjustment;
[Explanation of symbols]
(1) Seedling tray (2) Tray conveyor (5) Transplanting claw (seedling extraction claw)
(21) Claw opening / closing cylinder (opening / closing member)
(24) Recessed part (26) Seedling (27) (34) Seedling pressing body (35) Stem and leaf presser member

Claims

In the potting device in which the seedling is held from the seedling tray by a pair of bifurcated seedling extraction claws and the extracted seedlings are transplanted, the opposing inner side surfaces of the pair of seedling extraction claws are formed in a concave shape, A potting device characterized in that a pair of seedling extraction claws are provided so as to be openable and closable via an air pressure opening and closing member, and a pneumatic seedling pressing body is provided on the extraction claws so as to freely advance and retract.

2. The pot raising device according to claim 1, wherein a brush-like foliage presser member for separating the foliage of the seedling from the extracted seedling is provided in front of the seedling extraction position of the tray conveyor for conveying the seedling tray.